D. Fox, W. Burgard, H.Kruppa, and S. Thrun
Collaborative Multi-RobotLocalization
Proc. of the GermanConference on Artificial Intelligence
(KI), Germany,1999
Abstract
This paper presents a probabilistic algorithm for collaborative mobile robot
localization. Our approach uses a sample-based version of Markov localization,
capable of localizing mobile robots in an any-time fashion. When teams of
robots localize themselves in the same environment, probabilistic methods
are employed to synchronize each robot's belief whenever one robot detects
another. As a result, the robots localize themselves faster, maintain higher
accuracy, and high-cost sensors are amortized across multiplerobot platforms.
The paper also describes experimental results obtained using two mobile robots,
using computer vision and laserrange finding for detecting each other and
estimating each other'srelative location. The results, obtained in an indoor
office environment, illustrate drastic improvements in localization speed
andaccuracy when compared to conventional single-robot localization.
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Bibtex
@INPROCEEDINGS{Fox99Col,
AUTHOR = {Fox, D. and Burgard, W. and Kruppa, H. and
Thrun, S.},
TITLE = {Collaborative Multi-Robot Localization},
YEAR = {1999},
BOOKTITLE = {Proc.~of the GermanConferenceon Artificial Intelligence
(KI), Germany}
}